#include "WPILib.h"
#include "Defs.h"
#include <iostream>
#include <cmath>

class SashaBot : public SimpleRobot {

	Jaguar *m_rightMotor;
	Jaguar *m_leftMotor;
	
	Joystick *m_rightStick;
	Joystick *m_leftStick;
	
	RobotDrive *m_robotDrive; // robot drive system
	DriverStation *m_station;
	DriverStationLCD *m_screen;
	
	Gyro *m_gyro;
	
	ADXL345_I2C *m_accelrometer;
	
	
	float m_rightValue;
	float m_leftValue;

	float m_crouch;
	bool m_tankDrive;
	

	int m_updatecheck;
	int m_presscheck;
	bool m_state;
	

	float m_angle;
	
	double current_x;
	double current_y;
	double current_z;
	

	
public:
	SashaBot();
	void OperatorControl();
	void RobotInit();
	void RobotDisabled();
	void UpdateSpeed();
	double SpeedControl(float pos);
	void GetCrouch();
	void GyroInit();
	void GyroControl();
	void AccelControl();


};
